CN109435677A - A kind of active Stump-jump wheel group - Google Patents
A kind of active Stump-jump wheel group Download PDFInfo
- Publication number
- CN109435677A CN109435677A CN201811481897.9A CN201811481897A CN109435677A CN 109435677 A CN109435677 A CN 109435677A CN 201811481897 A CN201811481897 A CN 201811481897A CN 109435677 A CN109435677 A CN 109435677A
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- Prior art keywords
- lead screw
- shell
- stump
- active
- wheel group
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/12—Torque-transmitting axles
- B60B35/121—Power-transmission from drive shaft to hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
本发明实施例公开了一种主动越障轮组，包括外壳、设置在外壳内的驱动机构以及设置在外壳下方的轮毂组件，所述驱动机构包括沿竖直方向转动连接在外壳内的丝杠、滑动连接在丝杠上的丝杠活动件以及设置在外壳的上方并与丝杠连接的电机，所述轮毂组件包括驱动轮和连接在驱动轮上供驱动轮转动的齿轮组，所述齿轮组的外侧包覆有齿轮盖，所述齿轮盖的顶部转动连接在外壳内并置于丝杠的右侧，并在齿轮盖顶部左侧的外壁上一体成型有第一限位柱，所述第一限位柱内转动连接有连接轴，且连接轴与丝杠活动件连接。本发明由行走装置的控制部份控制电机的开启，基于智能化控制使驱动轮自主越障，且具有灵活性，从而提高行走装置在复杂环境下的行走效率。An embodiment of the present invention discloses an active obstacle wheel set including a casing, a driving mechanism disposed in the casing, and a hub assembly disposed under the casing, the driving mechanism including a screw coupled to the casing in a vertical direction a screw moving member slidably coupled to the lead screw and a motor disposed above the outer casing and coupled to the lead screw, the hub assembly including a driving wheel and a gear set coupled to the driving wheel for driving the driving wheel, the gear The outer side of the set is covered with a gear cover, the top of the gear cover is rotatably connected in the outer casing and placed on the right side of the screw, and a first limiting post is integrally formed on the outer wall of the left side of the top of the gear cover. A connecting shaft is rotatably connected to the first limiting column, and the connecting shaft is connected with the lead screw movable member. The invention controls the opening of the motor by the control part of the walking device, and makes the driving wheel autonomously obstacle-based based on the intelligent control, and has flexibility, thereby improving the walking efficiency of the walking device in a complicated environment.
Description
Technical field
The present embodiments relate to running gear technical fields, and in particular to a kind of active Stump-jump wheel group.
Background technique
It is continuous with the running gear equipment of wheel (such as clean robot, service robot and intelligent robotic toy have)
More new development, so that running gear will work in a variety of different environment, this just needs the walking mechanism of running gear can
Various Complex landform is adapted to, however the wheel bad adaptability of many running gears, walking mechanism, when encountering small stair and cable etc.
When barrier, obstacle climbing ability is limited, needs very big driving force, and is difficult to steadily clear the jumps.Due to obstacle detouring, climb building etc.
The road surface handling capacity and obstacle detouring level of mobile platform determine its working environment to a certain extent, therefore grind to Stump-jump wheel
Study carefully with certain meaning.
Research about mobile platforms such as barrier-surpassing robot, building search and rescue robots at present, there are mainly two types of: it is caterpillar
Walking mechanism and the Climbing building device for using triangle wheel.The mobile platform of two kinds of adaptation complicated landforms has the characteristics that its respectively, carries out
The walking mechanism of belt has preferable road surface handling capacity but flexibility is poor, using the Climbing building device of triangle wheel using more
It is convenient, but can not achieve autonomous driving.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of active Stump-jump wheel group, to solve in the prior art since Stump-jump wheel cannot
It takes into account flexible and active drive and causes to walk inefficient problem in complex environment downlink.
To achieve the goals above, embodiments of the present invention provide the following technical solutions:
In embodiments of the present invention, a kind of active Stump-jump wheel group is provided, comprising: shell is arranged inside the shell
Driving mechanism and the hub unit being arranged in below shell, the driving mechanism include being rotatably connected on shell along the vertical direction
Interior lead screw, the lead screw movable part being slidably connected on lead screw and the motor that the top of shell is set and is connect with lead screw,
The hub unit includes driving wheel and connection on the drive wheel for the gear set of driving wheel rotation, the outside packet of the gear set
It is covered with gear cap, the top rotation connection of the gear cap is placed in the right side of lead screw inside the shell, and in gear cap top left
Integrally formed with the first limited post on the outer wall of side, connecting shaft, and connecting shaft and silk are rotatably connected in first limited post
The connection of thick stick movable part.
By using above-mentioned technical proposal, the hub unit of existing running gear is improved, shell is set, wheel hub is made
It is rotatablely connected inside the shell, and is arranged inside the shell by lead screw, the silk being slidably connected on lead screw at the top of gear cap on component
Thick stick movable part and the top of shell is set and the driving mechanism of the compositions such as motor for connecting with lead screw, using being rotatably connected on
Connecting shaft in gear cap top exterior walls makes lead screw movable part connect setting with gear cap, by the control of the external running gear of motor
System part, and the unlatching of the control part control direct current variable frequency motor by running gear, when control section detects running gear
When there is barrier in front, the control section control motor of running gear is opened, and the output shaft of motor rotates clockwise and drives silk
Thick stick rotates clockwise, thus move lead screw movable part vertically downwards, the company concurrently being connect with lead screw movable part
Spindle also moves down, due at the top of the gear cap on hub unit side outer wall and connecting shaft be rotatablely connected, the other side with
Rotation connection inside the shell, when connecting shaft moves down, drives hub unit to carry out around the side being rotatably connected in shell
Circular motion makes hub unit be lifted up and clear the jumps, and when motor rotates backward, hub unit is returned downward to just
Beginning position makes driving wheel active obstacle based on intelligentized control method, and has flexibility, to improve running gear in complex environment
Under wheel efficiency.
Further, the perpendicular antetheca in shell of the connecting shaft is arranged, and between connecting shaft and lead screw movable part
Equipped with connector, one end of the connector and the front end of connecting shaft are rotatablely connected, and the other end and lead screw movable part are rotatablely connected.
Further, U-shaped part of the opening towards gear set, the company are connected on the front side outer wall of the lead screw movable part
Fitting is connected with down-feed screw setting in the recess portion that one end of lead screw movable part is placed in U-shaped part, and in the recess portion of U-shaped part
Gag lever post, the gag lever post and connector are rotatablely connected.
Further, the connector is cam member.
Further, the connector is damping spring.
Further, the shell is made of left shell and right shell body splicing, and the bottom surface of right shell body is formed with for gear
The opening of merging is covered, the upper end of the lead screw is rotatably connected on the upper wall of left shell, and the lower end of lead screw is rotatably connected on a left side
On the bottom wall of shell, and the lead screw fixing piece for being fixed in lead screw lower end is installed on the lower surface of left shell bottom wall.
Further, the wheel hub shaft of vertical right housing front wall setting, the gear caping are connected in the right shell body
Integrally formed with the second limited post being rotatablely connected for wheel hub shaft on outer wall on the right side of portion.
Further, the left shell and right shell body are detachably connected.
Embodiment according to the present invention, a kind of active Stump-jump wheel group of the invention have the advantages that by running gear
Control part control the unlatching of direct current variable frequency motor, when control section, which detects in front of running gear, barrier, walking
The control section control motor of device is opened, and the output shaft of motor rotates clockwise and lead screw is driven to rotate clockwise, to make
Lead screw movable part moves vertically downwards, and the connecting shaft concurrently connecting with lead screw movable part also moves down, due to
Side outer wall at the top of gear cap on hub unit and connecting shaft are rotatablely connected, the other side and rotation connection inside the shell, when
When connecting shaft moves down, drives hub unit to carry out circular motion around the side being rotatably connected in shell, make hub unit
It is lifted up and clears the jumps, when motor rotates backward, hub unit returns downward to initial position, based on intelligent control
System makes driving wheel active obstacle, and has flexibility, to improve wheel efficiency of the running gear under complex environment.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of overall structure diagram for active Stump-jump wheel group that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of structural blast schematic diagram for active Stump-jump wheel group that the embodiment of the present invention 1 provides；
Fig. 3 is a kind of overall structure diagram for active Stump-jump wheel group that the embodiment of the present invention 2 provides.
In figure: 1, shell；11, left shell；12, left shell；2, driving mechanism；21, lead screw；22, lead screw movable part；23,
Motor；3, hub unit；31, driving wheel；32, gear set；321, gear cap；3211, the first limited post；3212, the second limit
Column；4, connecting shaft；5, connector；6, U-shaped part；61, gag lever post；7, lead screw fixing piece；8, wheel hub shaft.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The term on cited such as "upper", "lower", " left side ", the right side in this specification ", " centre ", is merely convenient to describe
Be illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing technology without essence
It inside holds, when being also considered as the enforceable scope of the present invention.
Embodiment 1
As depicted in figs. 1 and 2, the embodiment of the invention provides a kind of active Stump-jump wheel groups, including shell 1, setting are outside
Driving mechanism 2 in shell 1 and the hub unit 3 being arranged in below shell 1.Shell 1 is spliced by left shell 11 and right shell body 12
Composition, and left shell 11 and right shell body 12 are detachably connected.Driving mechanism 2 includes being rotatably connected in shell 1 along the vertical direction
Lead screw 21, lead screw movable part 22 and motor 23, the upper end of lead screw 21 is rotatably connected on the upper wall of left shell 11, and lead screw
21 lower end is rotatably connected on the bottom wall of left shell 11, and wherein the lower end of lead screw 21 is pierced by the bottom wall of left shell 11, and
The lead screw fixing piece 7 for being fixed in 21 lower end of lead screw is installed on the lower surface of 11 bottom wall of left shell, it is right using lead screw fixing piece 7
Lead screw 21 is limited, and shaking by a relatively large margin or the shell 1 that falls off occur when lead screw 21 being avoided to rotate；22 screw thread of lead screw movable part
It is connected on the bar wall of lead screw 21, and motor 23 is selected as direct current variable frequency motor, is fixed on the upper wall of left shell 11, and motor
23 output shaft passes through the upper wall of left shell 11 and affixed with lead screw 21 straight down, by the control of the external running gear of motor 23
Partly, the unlatching of motor 23 can be controlled by the control part of running gear.
Hub unit 3 include driving wheel 31 and with 31 meshed gears group 32 of driving wheel, wherein gear set 32 far from drive
The gear of driving wheel 31 and the power drive portion of running gear connect, to control driving by the power drive portion of running gear
The rotation of wheel 31.It is coated with gear cap 321 in the outside of gear set 32, is formed in the bottom surface of right shell body 12 for gear cap 321
The opening of merging, wherein integrally formed with the first limited post 3211 on the outer wall of 321 top left side of gear cap, in the first limited post
Connecting shaft 4 is rotatably connected in 3211, and the perpendicular antetheca in shell 1 of connecting shaft 4 is arranged, and before lead screw movable part 22
It is connected with U-shaped part 6 of the opening towards gear set 32 on the outer wall of side, and is connected with the setting of down-feed screw 21 in the recess portion of U-shaped part 6
Gag lever post 61, between connecting shaft 4 and U-shaped part 6 be equipped with connector 5, wherein connector 5 be arranged in lead screw 21 front side it is convex
Gear member, and one end of connector 5 is placed in the recess portion of U-shaped part 6 and is rotatably connected on gag lever post 61, the other end of connector 5
It is rotatablely connected with the front end of connecting shaft 4；Integrally formed with the second limited post 3212 on the outer wall of 321 top right side of gear cap,
The wheel hub shaft 8 of vertical 12 antetheca of right shell body setting, and one end of wheel hub shaft 8 are rotatably connected in the second limited post 3212
It is fixed on the antetheca of right shell body 12, the other end is fixed on the rear wall of right shell body 12.
A kind of active Stump-jump wheel group of embodiments of the present invention controls opening for motor 23 by the control part of running gear
It opens, when control section detects that there is barrier in running gear front, the control section control motor 23 of running gear is opened, electricity
The output shaft of machine 23 rotates clockwise and lead screw 21 is driven to rotate clockwise, to make lead screw movable part 22 vertically downwards
Mobile, the connecting shaft 4 concurrently connecting with lead screw movable part 22 also moves down, due to the gear cap 321 on hub unit 3
The side outer wall and connecting shaft 4 at top are rotatablely connected, and the other side is rotatablely connected with the wheel hub shaft 8 being fixed in right casing, when
When connecting shaft 4 moves down, drives hub unit 3 to carry out circular motion around wheel hub shaft 8, be lifted up hub unit 3 simultaneously
It clears the jumps, when motor 23 rotates backward, hub unit 3 returns downward to initial position, makes 31 based on intelligentized control method
Driving wheel active obstacle, and there is flexibility, to improve wheel efficiency of the running gear under complex environment.
Embodiment 2
The difference is that, as shown in figure 3, connector 5 is damping spring, and one end of damping spring 5 is solid with embodiment
It connects on the front end of connecting shaft 4, the other end is fixed on the gag lever post 61 in U-shaped 6 recess portion of part, can be improved using damping spring
Stationarity when running gear obstacle detouring.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of active Stump-jump wheel group, it is characterised in that: the active Stump-jump wheel group includes shell (1), setting in shell (1)
Driving mechanism (2) and hub unit (3) below shell (1) is set, the driving mechanism (2) includes along the vertical direction
The lead screw (21) that is rotatably connected in shell (1), the lead screw movable part (22) being slidably connected on lead screw (21) and setting exist
The top of shell (1) and the motor (23) connecting with lead screw (21), the hub unit (3) include driving wheel (31) and are connected to
Gear cap is coated with for the gear set (32) of driving wheel (31) rotation on driving wheel (31), on the outside of the gear set (32)
(321), the right side that lead screw (21) are placed in shell (1) is rotatably connected at the top of the gear cap (321), and in gear cap
(321) integrally formed with the first limited post (3211) on the outer wall of top left side, the interior rotation of first limited post (3211) connects
It is connected to connecting shaft (4), and connecting shaft (4) is connect with lead screw movable part (22).
2. a kind of active Stump-jump wheel group according to claim 1, it is characterised in that: the connecting shaft (4) is perpendicular in outer
The antetheca of shell (1) is arranged, and is equipped with connector (5) between connecting shaft (4) and lead screw movable part (22), the connector (5)
One end and the front end of connecting shaft (4) be rotatablely connected, the other end and lead screw movable part (22) are rotatablely connected.
3. a kind of active Stump-jump wheel group according to claim 2, it is characterised in that: the front side of the lead screw movable part (22)
Be connected on outer wall opening towards gear set (32) U-shaped part (6), the connector (5) close to lead screw movable part (22) one
End is placed in the recess portion of U-shaped part (6), and the gag lever post (61) of down-feed screw (21) setting is connected in the recess portion of U-shaped part (6),
The gag lever post (61) and connector (5) are rotatablely connected.
4. a kind of active Stump-jump wheel group according to claim 3, it is characterised in that: the connector (5) is cam member.
5. a kind of active Stump-jump wheel group according to claim 3, it is characterised in that: the connector (5) is damping spring.
6. a kind of active Stump-jump wheel group according to claim 1, it is characterised in that: the shell (1) is by left shell (11)
Splice with right shell body (12) and form, and the bottom surface of right shell body (12) is formed with the opening for gear cap (321) merging, the lead screw
(21) upper end is rotatably connected on the upper wall of left shell (11), and the lower end of lead screw (21) is rotatably connected on left shell (11)
On bottom wall, and the lead screw fixing piece (7) for being fixed in lead screw (21) lower end is installed on the lower surface of left shell (11) bottom wall.
7. a kind of active Stump-jump wheel group according to claim 6, it is characterised in that: be connected in the right shell body (12) vertical
The wheel hub shaft (8) of straight right shell body (12) antetheca setting, integrally formed with confession on the outer wall of gear cap (321) top right side
The second limited post (3212) of wheel hub shaft (8) rotation connection.
8. a kind of active Stump-jump wheel group according to claim 6, it is characterised in that: the left shell (11) and right shell body
(12) it is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481897.9A CN109435677B (en) | 2018-12-05 | 2018-12-05 | An active obstacle-crossing wheel set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481897.9A CN109435677B (en) | 2018-12-05 | 2018-12-05 | An active obstacle-crossing wheel set |
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| Publication Number | Publication Date |
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| CN109435677A true CN109435677A (en) | 2019-03-08 |
| CN109435677B CN109435677B (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811481897.9A Active CN109435677B (en) | 2018-12-05 | 2018-12-05 | An active obstacle-crossing wheel set |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11318787B2 (en) * | 2018-12-19 | 2022-05-03 | Super ATV, LLC | Adjustable portal plate |
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